CN102059706B - Positioning material extracting device - Google Patents
Positioning material extracting device Download PDFInfo
- Publication number
- CN102059706B CN102059706B CN2009103098000A CN200910309800A CN102059706B CN 102059706 B CN102059706 B CN 102059706B CN 2009103098000 A CN2009103098000 A CN 2009103098000A CN 200910309800 A CN200910309800 A CN 200910309800A CN 102059706 B CN102059706 B CN 102059706B
- Authority
- CN
- China
- Prior art keywords
- pin
- hole
- sucker
- location
- take out
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/5313—Means to assemble electrical device
- Y10T29/53191—Means to apply vacuum directly to position or hold work part
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53274—Means to disassemble electrical device
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a positioning material extracting device, which comprises a sucking disc, a positioning plate arranged opposite to the sucking disc, a connecting piece and a floating pin fixed on the sucking disc, wherein the sucking disc is provided with an adsorption surface; the floating pin comprises a positioning part of which the radial size of the position facing the sucking disc reduces gradually; a limit hole is formed on the connecting piece; the positioning part is slidably arranged in the limit hole; a pin hole is formed on the adsorption plane of the sucking disc; and a positioning column corresponding to the pin hole is arranged on the positioning plate. A glide plane inclines axially relative to the positioning column is formed by at least one of the side wall of a pin hole inlet and the free end of the positioning column. When the free end of the positioning column is mismatched with the pin hole inlet, the positioning column presses against the side wall of the pin hole inlet so as to allow the positioning part to slide axially in the limit hole along the floating pin and form a gap with the side wall of the limit hole, so that the floating pin is driven by the sucking disc to generate offset in the radial direction of the floating pin to allow the positioning column to align with the pin hole.
Description
Technical field
The present invention relates to a kind of location take out device, relate in particular to a kind of for the location take out device on the manipulator.
Background technology
A kind of take out device, it is used for the workpiece that absorption has locating hole.This take out device comprises sucker and is arranged on alignment pin on the sucker that the locating hole of this alignment pin and workpiece is complementary.This take out device generally is installed on the manipulator, it is moved to workpiece top and is fallen by manipulator, and alignment pin penetrates in this locating hole, to locate this workpiece.Sucker adsorbs this workpiece, and the take out device that manipulator will be adsorbed with workpiece moves to assigned address.
Above-mentioned take out device relies on the location that cooperates of alignment pin and locating hole, but because the influence of manipulator positioning accuracy, the perhaps workpiece error of placing, alignment pin may can not be aimed at fully with locating hole, draw in the process of workpiece at take out device, alignment pin can compress the sidewall of locating hole, causes workpiece cracking or other damages.
Summary of the invention
In view of foregoing, be necessary to provide a kind of fine-tuning positioning location take out device.
A kind of location take out device, it is used for the workpiece that absorption has locating hole, and this location take out device comprises sucker and the location-plate that is oppositely arranged with this sucker, and sucker has adsorption plane.The location take out device also comprises connector, be fixed on the sucker two pins and be fixed on two positioning components on this sucker of floating.Unsteady pin comprises the location division that reduces gradually towards the sucker radial dimension, offers spacing hole on the connector, and the location division is slidably disposed in this spacing hole.Sucker offers pin-and-hole at its adsorption plane, and location-plate is provided with the reference column corresponding with this pin-and-hole.One of them is formed with the sliding surface with respect to the reference column axioversion at least for the entrance sidewall of pin-and-hole and the free end of this reference column.When the entrance dislocation of the free end of this reference column and this pin-and-hole, the entrance sidewall that reference column compresses this pin-and-hole make this location division in spacing hole along the bearing pin that floats to sliding and producing the gap with the sidewall of spacing hole, and then make this sucker drive float pin in the directly upwards skew of pin of floating, so that this reference column is aimed at this pin-and-hole, this positioning component comprises cylinder and is arranged on alignment pin on this cylinder, this alignment pin is right against this pin-and-hole, when this workpiece of absorption, this alignment pin is in contraction state, when this sucker adsorbs this workpiece and rises, this alignment pin under the driving of this cylinder from this pin-and-hole stretch out and be inserted in the locating hole of this workpiece and prevent this workpiece relatively this adsorption plane slide.
When if the sucker of location take out device and the workpiece on the location-plate are positioned with deviation, reference column on the location-plate will compress the sliding surface of pin-and-hole entrance, the pin that floats is radially reached axially at unsteady pin simultaneously with respect to connector to be moved, relative position with fine setting sucker and workpiece, workpiece can be positioned on the tram of sucker, can also avoid damaging simultaneously workpiece.
Description of drawings
Fig. 1 is the stereogram of omission location-plate of the location take out device of preferred embodiments of the present invention.
Fig. 2 is that location shown in Figure 1 take out device is along the cutaway view of VI-VI line.
Fig. 3 is the enlarged drawing in the III district of Fig. 2.
Fig. 4 is that location shown in Figure 1 take out device is along the cutaway view of V-V line.
The specific embodiment
Below in conjunction with drawings and the embodiments location of the present invention take out device is described in further detail.
See also Fig. 1 and Fig. 2, the location take out device 200 of embodiment of the present invention comprises location-plate 20, sucker 21, two positioning components 23, connector 25, two connecting plates 26, two float pin 27, fixed head 28 and two elastic components 29.
Location-plate 20 roughly is square, and location-plate 20 has outwards vertically extended to form two reference columns 201 on one surface.
Please consult Fig. 3 to Fig. 4 simultaneously, sucker 21 shapes are corresponding with location-plate 20, and it comprises stationary plane 210 and the adsorption plane 211 relative with stationary plane 210.Sucker 21 portion within it offers the containing hole 212 of a T type.Sucker 21 also comprises the guide 214 that is arranged in this containing hole 212, offers pin-and-hole 217 in the guide 214.Pin-and-hole 217 comprises near first holding part 2171 of stationary plane 210 and second holding part 2173 that is connected with this first holding part 2171, this first holding part 2171 and second holding part 2172 are circular hole, and the aperture of second holding part 2173 is slightly smaller than the aperture of first holding part 2171.Pin-and-hole 217 has the pin-and-hole entrance 218 that is opened on the adsorption plane 211, the reference column 201 of each pin-and-hole entrance 218 corresponding location-plate 20.Pin-and-hole entrance 218 is horn mouth, and the less end in its aperture is connected with second holding part 2173.The minimum-value aperture of pin-and-hole entrance 218 is equivalent to the aperture of second holding part 2173, and along the direction away from first holding part 2171, the aperture of pin-and-hole entrance 218 increases gradually.Pin-and-hole entrance 218 has the sliding surface 219 of inclination.
The pin 27 that floats comprises bar portion 271 and is fixedly installed on the location division 273 of bar portion 271 1 ends.Location division 273 is a truncated cone-shaped pin cap that the spacing hole 2531 with sleeve 253 is complementary, and near on the direction of bar portion 271, the external diameter of location division 273 reduces gradually.The maximum outside diameter of location division 273 is a bit larger tham the maximum diameter of hole of spacing hole 2531.Offer on the fixed head 28 and two containing holes 212, two through holes 281 one to one.Elastic component 29 is spring.
Fixed head 28 is fixed on the stationary plane 210 of sucker 21, and two through hole 281 is communicated with corresponding pin-and-hole 217 respectively.Two connecting plates 26 are stacked and be fixed on the positions that fixed head 28 is gone up approximate mid-section away from sucker 21 surfaces.Floating penetrates the spring hole of elastic component 29 after the pin 27 spacing hole 2531 bigger ends from connector 25 pass, finally be fixed on connecting plate 26 away from the position of close connecting plate 26 ends on the surface of sucker 21.Elastic component 29 two ends support connecting plate 26 and connector 25 respectively, the maximum gauge of pin 27 is greater than the maximum gauge of spacing hole 2531 owing to float, so connector 25 can be on the pin 27 that floats compression elastic piece 29 and slide with respect to the pin 27 that floats, and can not break away from the pin 27 that floats.Each positioning component 23 be installed in fixed head 28 away from the surface of sucker 21 and cover containing hole 212.Alignment pin 233 can pass through hole 281 and guide 214 under the driving of cylinder 231, alignment pin 233 ends are stretched out outside the adsorption plane 211 of sucker 21.
The connector 25 of location take out device 200 is installed in the end of manipulator (not shown), makes manipulator can drive location take out device 200 and picks and places workpiece 31 on the location-plate 20.In the present embodiment, workpiece 31 is flexible PCB, offers locating hole 311 on it, is formed with corresponding reference column 201 on the location-plate 20.When workpiece 31 was placed on the location-plate 20, reference column 201 passes locating hole 311 and part is protruded outside workpiece 31.When starting working, the alignment pin 233 of positioning component 23 is contraction state.Robot movement makes the pin-and-hole entrance 218 of sucker 21 over against reference column 201 to workpiece 31 tops.Manipulator descends then, and reference column 201 inserts in second holding part 2173 from pin-and-hole entrance 218, and behind the sucker 21 absorption workpiece 31, manipulator rises, and reference column 201 is extracted in locating hole 311.Simultaneously cylinder 231 drives alignment pins 233 and stretches out in the guide 214 and be inserted in the locating hole 311 of workpiece 31, slides at the adsorption plane 211 of sucker 21 to prevent workpiece 31.Last manipulator transports and is placed into assigned address with workpiece 31, to carry out subsequent operation.
Because pin-and-hole entrance 218 aperture on away from the direction of pin-and-hole 217 becomes greatly gradually, so pin-and-hole entrance 218 occupies relatively large area at the adsorption plane 211 of sucker 21.If error appears in manipulator location or workpiece 31 placement locations, cause the reference column 201 can not be fully on time away from free end and second holding part 2173 of location-plate 20 plate faces, manipulator falls, reference column 201 will compress the sliding surface 219 of pin-and-hole entrance 218, the location division 273 that sucker 21 drives the pin 27 that floats the pin 27 that floats axially on compression elastic piece 29 and slide with respect to connector 25.Like this, between location division 273 and spacing hole 2531 sidewalls space will appear.Simultaneously, because sliding surface 219 is with respect to reference column 201 axioversions, reference column 201 slides towards second holding part 2173 on sliding surface 219 bearing of trends, and compress sliding surface 219, sucker 21 is upwards moved with respect to connector 25 in pin 27 footpaths of floating, insert in second holding part 2173 of pin-and-hole 217 until reference column 201, can be positioned at the tram on the sucker 21 to guarantee workpiece 31.Behind the sucker 21 absorption workpiece 31, manipulator rises, and elastic component 29 compresses connector 25, and the pin 27 that floats is resetted.
Location take out device 200 suckers 21 are provided with the pin 27 that floats, and the pin 27 that floats has the location division 273 that radial dimension changes, location take out device 200 also on location division 273 slip cap be provided with connector 25.Location take out device 200 also offers pin-and-hole entrance 218 at the adsorption plane 211 of sucker 21, and offer the pin-and-hole 217 that is connected with this pin-and-hole entrance 218 in sucker, and the radial dimension of this pin-and-hole entrance 218 reduces gradually along the direction near second holding part 2173.When if the sucker 21 of location take out device 200 is positioned with deviation with the workpiece 31 on the location-plate 20, reference column 201 on the location-plate 20 will compress the sliding surface 219 of pin-and-hole entrance 218, the pin 27 that floats is radially reached axially at the pin 27 that floats simultaneously with respect to connector 25 to be moved, with the relative position of fine setting sucker 21 with workpiece 31, workpiece 31 can be positioned on the tram of sucker 21.
Also pin-and-hole entrance 218 can be made straight hole, and with reference column 201 away from the outer surface of location-plate 20 plate faces one end with respect to reference column 201 axioversion settings, namely reference column 201 is roughly taper or truncated cone-shaped away from the end of location-plate 20.When reference column 201 and second holding part 3173 of sucker 21 can not be accurately on time, reference column 201 compresses the sliding surface 219 of pin-and-hole entrance 218, make sucker 21 with reference column 201 relative slip take place, reference column 201 is slipped in second holding part 2173, realize the fine setting positioning function.
Connecting plate 26 and fixed head 28 can omit, and positioning component 23, the pin 27 that floats directly are fixed on the sucker 21, also can realize identical effect.
The location division 273 of unsteady pin 27 is not limited to truncated cone-shaped, and it also can be the direction towards bar portion 271, the ever-reduced prismoid of radial dimension or hemisphere etc.
In addition, those skilled in the art also can do other variation in spirit of the present invention.Certainly, the variation that these are done according to spirit of the present invention all should be included in the present invention's scope required for protection.
Claims (7)
1. locate take out device for one kind, it is used for the workpiece that absorption has locating hole, this location take out device comprises sucker and the location-plate that is oppositely arranged with this sucker, this sucker has adsorption plane, it is characterized in that: this location take out device also comprises connector, be fixed on two pins that float on the sucker, and be fixed on two positioning components on this sucker, the pin that should float comprises the location division that reduces gradually towards the sucker radial dimension, offer spacing hole on this connector, this location division is slidably disposed in this spacing hole, this sucker offers pin-and-hole at its adsorption plane, this location-plate is provided with the reference column corresponding with this pin-and-hole, one of them is formed with the sliding surface with respect to the reference column axioversion at least for the entrance sidewall of this pin-and-hole and the free end of this reference column, when the entrance dislocation of the free end of this reference column and this pin-and-hole, the entrance sidewall that this reference column compresses this pin-and-hole make this location division in this spacing hole along the bearing pin that floats to sliding and producing the gap with the sidewall of this spacing hole, and then make this sucker drive float pin in the directly upwards skew of pin of floating, so that this reference column is aimed at this pin-and-hole, this positioning component comprises cylinder and is arranged on alignment pin on this cylinder, this alignment pin is right against this pin-and-hole, when this workpiece of absorption, this alignment pin is in contraction state, when this sucker adsorbs this workpiece and rises, this alignment pin under the driving of this cylinder from this pin-and-hole stretch out and be inserted in the locating hole of this workpiece and prevent this workpiece relatively this adsorption plane slide.
2. location as claimed in claim 1 take out device, it is characterized in that: this pin that floats comprises that an end is fixed on the bar portion on the sucker, and this location division is arranged at this bar portion away from an end of this sucker, and this location division is truncated cone-shaped.
3. location as claimed in claim 2 take out device, it is characterized in that: the maximum gauge of this location division breaks away from the pin that should float greater than the maximum diameter of hole of this spacing hole to prevent this connector.
4. location as claimed in claim 2 take out device, it is characterized in that: this location take out device also comprises the elastic component that is set in this bar portion, these elastic component two ends support sucker and this connector respectively.
5. location as claimed in claim 1 take out device, it is characterized in that: this location take out device also comprises and is fixed on this sucker another lip-deep fixed head relative with adsorption plane, offer the through hole corresponding with the pin-and-hole of sucker on this fixed head, each positioning component is installed in the surface away from this sucker of this fixed head, this alignment pin passes this through hole under the driving of this cylinder, this alignment pin end is stretched out outside the adsorption plane of this sucker.
6. location as claimed in claim 5 take out device, it is characterized in that: this sucker offers containing hole, and this location take out device also comprises the guide that is arranged in this containing hole, and this pin-and-hole is opened in this guide.
7. location as claimed in claim 6 take out device, it is characterized in that: this pin-and-hole comprises first holding part and second holding part that is connected with this first holding part, this first holding part aperture is greater than this second holding part aperture, and this pin rod comprises corresponding with this first holding part and this second holding part difference respectively first pin rod portion and the second pin rod portion.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103098000A CN102059706B (en) | 2009-11-16 | 2009-11-16 | Positioning material extracting device |
| US12/852,591 US9138898B2 (en) | 2009-11-16 | 2010-08-09 | Removal mechanism for printed circuit board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103098000A CN102059706B (en) | 2009-11-16 | 2009-11-16 | Positioning material extracting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102059706A CN102059706A (en) | 2011-05-18 |
| CN102059706B true CN102059706B (en) | 2013-08-28 |
Family
ID=43995304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009103098000A Expired - Fee Related CN102059706B (en) | 2009-11-16 | 2009-11-16 | Positioning material extracting device |
Country Status (2)
| Country | Link |
|---|---|
| US (1) | US9138898B2 (en) |
| CN (1) | CN102059706B (en) |
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-
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| CN1167564A (en) * | 1995-12-27 | 1997-12-10 | 株式会社信浓电子 | Method of positioning IC and IC handler using the same |
| US6224121B1 (en) * | 1999-06-18 | 2001-05-01 | Wilburn B. Laubach | Quick disconnect articulated chuck apparatus and method |
| CN1332110A (en) * | 2000-03-17 | 2002-01-23 | 株式会社爱德万测试 | Part holding device |
| JP2002160187A (en) * | 2000-11-24 | 2002-06-04 | Seiko Epson Corp | Holding device, conveying device, ic inspection device, holding method, conveying method and ic inspection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106737306A (en) * | 2017-02-23 | 2017-05-31 | 广州市鸣雅玛丁尼乐器制造有限公司 | One kind absorption folder and guitar accessory process equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| US20110113622A1 (en) | 2011-05-19 |
| CN102059706A (en) | 2011-05-18 |
| US9138898B2 (en) | 2015-09-22 |
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